CN104780318B - Analog video signal acquisition system - Google Patents
Analog video signal acquisition system Download PDFInfo
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- CN104780318B CN104780318B CN201510205090.2A CN201510205090A CN104780318B CN 104780318 B CN104780318 B CN 104780318B CN 201510205090 A CN201510205090 A CN 201510205090A CN 104780318 B CN104780318 B CN 104780318B
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Abstract
The invention discloses a kind of analog video signal acquisition system, it is intended to overcome the single-chip microcomputer of existing intelligent vehicle model inadequate using acquisition rate when simulating camera identification road, can not accurate and effective the problem of utilize analog video signal, it includes rechargeable battery, single-chip microcomputer U1, mu balanced circuit, direct current generator, Servo-controller, drive circuit, simulates camera and video processing circuit.Rechargeable battery and mu balanced circuit are connected with drive circuit line, and mu balanced circuit and simulation camera, video processing circuit and single-chip microcomputer U1 lines are connected；2 pins for simulating the video signal cable of camera and the chip U8 of video processing circuit are connected, and chip U8 3 pins are connected with single-chip microcomputer U1 PTB0 pins；Single-chip microcomputer U1 two-way PWM connects the half-bridge driven chip U5 and half-bridge driven chip U6 of drive circuit 2 pins successively；The white wire of Servo-controller meets single-chip microcomputer U1 1 road PWM；Drive circuit is connected with direct current generator line.
Description
Technical field
The present invention relates to it is a kind of belong to sensing technology and automation in terms of harvester, more precisely, of the invention
It is related to a kind of analog video signal acquisition system.
Background technology
With the high speed development of automated information technology, intelligent automobile turns into the topic discussed warmly now.Intelligent automobile master
Information gathering is carried out using various sensors and is handled, so as to realize intelligent traveling；Pass through the auxiliary of automatic control technology, intelligence
Energy automobile will greatly improve vehicle safety and comfortableness.As the simplified model of intelligent automobile, intelligent vehicle model can be fine
Simulation intelligent automobile Information Collecting ＆ Processing, automatically control.
When existing intelligent automobile perceives extraneous, a big chunk information is collected by camera.By grinding
Study carefully camera intelligent vehicle model to can be good at verifying acquisition process of the intelligent automobile to vision signal.It is existing to be based on camera
Intelligent vehicle model it is main to the collection of image information thering is simulation camera signals AD conversion to gather, digital camera I/O port is adopted
Collection etc..It is limited yet with Chip Microcomputer A/D picking rate, complete image can not be collected using simulation camera, causes collection not
Accurately, intelligent vehicle model can not be controlled accurately；And digital camera occupies a large amount of I/O ports, and data volume is huge, can give single-chip microcomputer
Acquisition process brings very big burden, is equally unfavorable for intelligent vehicle model and accurately identifies road, reaches and automatically control.
Simulation camera has information content many as sensor at present, and noise is few, and discrimination is high, and control is accurate effective excellent
Point.However, it is that processing is complicated that problem is the shortcoming brought information content more, collection period is long, so as to cause identification frequency to decline.Separately
Outside, simulation camera sensing device general method by analog-to-digital conversion when using, this has certain want to analog-to-digital conversion frequency
Ask, it is impossible to which the relatively low single-chip microcomputer of operating speed is acquired.
If AD conversion can be avoided, effective road information is only gathered, so just can not increase single-chip microcomputer burden
In the case of, realize that intelligent vehicle model is accurately effectively automatically controlled.
The content of the invention
The technical problems to be solved by the invention are that single-chip microcomputer recognizes road using camera is simulated on existing intelligent vehicle model
Lu Shi, acquisition rate is inadequate, it is impossible to which accurate and effective the problem of analog video signal there is provided a kind of analog video signal using adopting
Collecting system.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Described analog video signal
Acquisition system includes rechargeable battery, single-chip microcomputer U1, mu balanced circuit, direct current generator, Servo-controller, drive circuit, simulation shooting
Head and video processing circuit；
Described mu balanced circuit includes 5V mu balanced circuits, 12V mu balanced circuits and 3.3V mu balanced circuits；
Described video processing circuit includes video separation circuit and hardware binarization circuit；
The voltage stabilizing chip U2 of model LM2940 in rechargeable battery positive pole and 5V mu balanced circuits 1 pin electrical connection,
The negative pole of rechargeable battery is electrically connected with the voltage stabilizing chip U2 of the model LM2940 in mu balanced circuit 2 pins；Chargeable electricity
Model IRF3205 in the metal-oxide-semiconductor Q1 of model IRF3205 in pond positive pole and drive circuit 2 pins and drive circuit
Metal-oxide-semiconductor Q3 2 pins connection；12V power output ends in 12V mu balanced circuits connect the red wiring on simulation camera；5V
5V power output ends in mu balanced circuit are connected with the chip U8 of the model LM1881 in video separation circuit 8 lead-foot-lines；
5V power output ends in 5V mu balanced circuits connect the chip U7 of the model AD8032 in hardware binarization circuit 8 pins；5V
The 5V power output ends of mu balanced circuit connect the red wiring of Servo-controller；The 3.3V power output ends and monolithic of 3.3V mu balanced circuits
Machine U1 VCC pin connection；
Yellow video signal cable VIDEO on described simulation camera passes through the type in electric capacity C5 and video separation circuit
Number for LM1881 chip U8 2 lead-foot-lines connection；Simulate the yellow video signal cable VIDEO access hardware binarizations of camera
The chip U7 of model AD8032 in circuit 5 pins；The 1 of the chip U7 of model AD8032 in hardware binarization circuit
Pin connects single-chip microcomputer U1 PTB2, PTB3 interrupt pin respectively；The chip U8 of model LM1881 in video separation circuit
3 pins connect interrupt pin i.e. PTB0 pins in single-chip microcomputer U1；Two-way PWM pins in single-chip microcomputer U1 connect drive circuit successively
In model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 2 pins；Driving
The 2 of the metal-oxide-semiconductor Q4 of model IRF3205 in the metal-oxide-semiconductor Q3 of model IRF3205 in circuit 3 pins and drive circuit
The metal-oxide-semiconductor Q1 of model IRF3205 in one end connection of pin and direct current generator, drive circuit 3 pins and drive circuit
In model IRF3205 metal-oxide-semiconductor Q2 2 pins and direct current generator the other end connect；It is white on described Servo-controller
Color wiring connects 1 road PWM pins on single-chip microcomputer U1.
The 12V power output ends in 12V mu balanced circuits described in technical scheme connect the model in drive circuit
IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 1 pin；3.3V mu balanced circuits
3.3V power output ends connect the other end of the resistance R13 in hardware binarization circuit.
Rechargeable battery described in technical scheme is connected with mu balanced circuit electric wire to be referred to：It is steady that rechargeable battery positive pole meets 5V
The voltage stabilizing chip U2 of model LM2940 in volt circuit 1 pin is Vin pins, and negative electrode of rechargeable batteries connects 5V mu balanced circuits
In model LM2940 voltage stabilizing chip U2 2 pins be GND pin；Negative electrode of rechargeable batteries by variable resistor R1 with
The voltage stabilizing chip U3 of model 34063 in 12V mu balanced circuits 5 lead-foot-lines connection；Model in 5V mu balanced circuits
LM2940 voltage stabilizing chip U2 3 pins are Vout pins and the voltage stabilizing chip U3 of the model 34063 in 12V mu balanced circuits
6 lead-foot-lines are connected；The voltage stabilizing chip U4 of model LM1117 in 3.3V mu balanced circuits 3 pins connect the 5V electricity of 5V mu balanced circuits
Source output terminal.
5V mu balanced circuits described in technical scheme also include electrochemical capacitor C20 and electrochemical capacitor C21；Model LM2940
Voltage stabilizing chip U2 1 pin be positive terminal that Vin pins meet electrochemical capacitor C20, the 3 of model LM2940 voltage stabilizing chip U2
Pin is the positive terminal that Vout pins meet electrochemical capacitor C21, and electrochemical capacitor C20 and electrochemical capacitor C21 negative pole end is grounded, model
It is GND pin ground connection for LM2940 voltage stabilizing chip U2 2 pins.
12V mu balanced circuits described in technical scheme also include inductance L4, resistance R2, resistance R3, resistance RES4, electric capacity
C1, electrochemical capacitor C2, electric capacity C25；The voltage stabilizing chip U3 of model 34,063 1 pin and the voltage stabilizing chip U3 of model 34063
7 pins by an inductance L4 connection, the voltage stabilizing chip U3 of model 34,063 8 pins are connected with a resistance R2 end line,
The resistance R2 other ends are connected with the voltage stabilizing chip U3 of model 34,063 7 lead-foot-lines；The 6 of the voltage stabilizing chip U3 of model 34063
It is connected after pin connection resistance R3 with the voltage stabilizing chip U3 of model 34,063 7 lead-foot-lines；The voltage stabilizing chip of model 34063
U3 1 pin connection model IN4007 diode D1 positive pole, model IN4007 diode D1 negative poles connection resistance
RES4 one end, the resistance RES4 other end is connected with the voltage stabilizing chip U3 of model 34,063 5 lead-foot-lines；Model
The negative pole exit of IN4007 diode is 12V power ends；The voltage stabilizing chip U3 of model 34,063 6 pins and ground with
And electric capacity C1 and electrochemical capacitor C2 is accessed between the negative pole and ground of model IN4007 diode；The voltage stabilizing of model 34063
1 electric capacity C25 is concatenated between chip U3 2 pins and 3 pins, while the voltage stabilizing chip U3 of model 34,063 2 pins connect
Ground.
3V mu balanced circuits described in technical scheme also include electrochemical capacitor C22, electric capacity C23 and electric capacity C24；Model
LM1117 voltage stabilizing chip U4 1 pin ground connection, model LM1117 voltage stabilizing chip U4 2 pins are output 3.3V power supplys
End, model LM1117 voltage stabilizing chip U4 3 pins connect electric capacity C24 one end, the 2 of model LM1117 voltage stabilizing chip U4
Pin connects electric capacity C23 and electrochemical capacitor C22 one end, electric capacity C24, electric capacity C23 and electrochemical capacitor C22 other end ground connection.
Drive circuit described in technical scheme also includes metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4, diode
D2, diode D3, diode D4, diode D5, diode D6, diode D7, resistance R4, resistance R5, resistance R6, resistance R7,
Electric capacity C3 and electric capacity C4；Wherein：Metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q4 are all model IRF3205 metal-oxide-semiconductor,
Diode D2, diode D3, diode D4, diode D5, diode D6 and diode D7 are all model IN4148 two poles
Pipe.Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 3,4 pins connect
Ground, model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 8 pins connect respectively
Diode D2 and diode D3 negative pole, diode D2 and diode D3 positive pole connects 12V power output ends；Model
IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 6 pins are sequentially connected electrochemical capacitor
C3 and electrochemical capacitor C4 negative pole, electrochemical capacitor C3 and electrochemical capacitor C4 positive pole connects the negative of diode D2 and diode D3 respectively
Pole；Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 5,7 pins respectively connect
Connect diode D5, diode D4 and diode D7, diode D6 negative pole, diode D5, diode D4 and diode D7, two poles
Pipe D6 positive pole is connected with metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q4, metal-oxide-semiconductor Q3 G levels line respectively；Diode D5, diode D4,
Diode D7 and diode D6 two ends are in parallel with resistance R6 two ends with resistance R5, resistance R4, resistance R7 successively；Model
IR2104S half-bridge driven chip U5 7 pins are connected with diode D4 negative pole, diode D4 positive pole and the 1 of metal-oxide-semiconductor Q1
Lead-foot-line is connected, and model IR2104S half-bridge driven chip U5 5 pins are connected with diode D5 negative pole, diode D5
Positive pole be connected with metal-oxide-semiconductor Q2 1 lead-foot-line, model IR2104S half-bridge driven chip U6 7 pins and the 1 of metal-oxide-semiconductor Q3
Lead-foot-line is connected, and model IR2104S half-bridge driven chip U6 5 pins are connected with metal-oxide-semiconductor Q4 1 lead-foot-line；Metal-oxide-semiconductor Q1
It is connected with metal-oxide-semiconductor Q3 2 pins with anode；Metal-oxide-semiconductor Q2 and metal-oxide-semiconductor Q4 3 pins are grounded；Metal-oxide-semiconductor Q1 3 pins
It is connected with metal-oxide-semiconductor Q2 2 lead-foot-lines；Metal-oxide-semiconductor Q3 3 pins are connected with metal-oxide-semiconductor Q4 2 lead-foot-lines；Metal-oxide-semiconductor Q1 3 pins with
A motor MOTOR wiring is connected, and metal-oxide-semiconductor Q3 3 pins are connected with motor MOTOR another wiring；The 3 of metal-oxide-semiconductor Q1
Pin is connected with model IR2104S half-bridge driven chip U5 6 lead-foot-lines, metal-oxide-semiconductor Q3 3 pins and model
IR2104S half-bridge driven chip U6 6 lead-foot-lines connection.
Video separation circuit described in technical scheme also includes electric capacity C5, electric capacity C6 and resistance R8；Electric capacity C5 one end
It is connected with model LM1881 chip U8 2 lead-foot-lines, model LM1881 chip U8 4 pins ground connection；Model
LM1881 chip U8 6 pins connect the other end ground connection of electric capacity C6 and resistance R8 one end, electric capacity C6 and resistance R8 simultaneously；Type
Number it is connected to interrupt pin i.e. PTB1 pins in single-chip microcomputer U1 for LM1881 chip U8 1 pin.
Hardware binarization circuit described in technical scheme includes model AD8032 chip U7, resistance R9, resistance
R10, resistance R11, resistance R12, resistance R13, resistance R14 and resistance R15；Model AD8032 chip U7 6 pins and 7 draw
Adjustable resistance R9, model AD8032 chip U7 6 pin connecting resistance R10 one end, the resistance R10 other ends are concatenated between pin
Ground connection；One end of the connecting resistance R11 of video signal VIDEO 1 after model AD8032 chip U7 7 pins output amplification, electricity
Hinder 2 pins of another terminating number of R11 for AD8032 chip U7；Model AD8032 chip U7 4 pins ground connection；Model
For AD8032 chip U7 1 pin connecting resistance R12 one end, another terminating number of resistance R12 is the 3 of AD8032 chip U7
Pin；Model AD8032 chip U7 1 pin connecting resistance R13 one end；Model AD8032 chip U7 3 pins connect
Resistance R14 one end, resistance R14 another termination slide rheostat R15 2 pins, slide rheostat R15 left and right pin
The 5V power output ends and ground of 5V mu balanced circuits are connect respectively.
Rechargeable battery described in technical scheme uses model 7.2VNi-Cd battery；Single-chip microcomputer U1 uses model
For MKL26Z256VLL4 single-chip microcomputer；Direct current generator uses model RS-380 motor；Servo-controller uses model SD-
05 servomotor；Simulate the simulation camera that camera uses the lines of model SONY CCD 420.
Compared with prior art the beneficial effects of the invention are as follows：
1. analog video signal acquisition system of the present invention only needs to collection simulation camera often row output signal
Hopping edge is generally 3-4, i.e. often capable data volume and is changed into 4 from original 640, the camera sensing device greatly reduced
Data volume.
2. analog video signal acquisition system of the present invention utilizes single-chip microcomputer by hardware binarization and interrupt acquisition
Counter records value accurately find road edge position instead of camera signals.Single-chip microcomputer is avoided to high-frequency shooting
The collection one by one of head signal, alleviates the burden of single-chip microcomputer, low side single-chip microcomputer is also utilized well and simulates camera collection
Road information.Simultaneously as Counter Value can be by single-chip microcomputer control, it is possible to achieve programmer changes often capable collection by programming
Precision, and the hopping edge gathered is still 4, so can accomplish not increasing the data volume of signal while improving precision, is mitigated
Single-chip microcomputer is born.
, can be with 3. analog video signal acquisition system of the present invention is by down trigger mode acquisition camera signal
Single-chip microcomputer is being interrupted the acquired row data of free time processing, improve the efficiency that single-chip microcomputer handles image, carry simultaneously
The control frequency of high intelligent vehicle model.
4. the video processing circuits needed for analog video signal acquisition system of the present invention is simple, adapt to any a
There is the single-chip microcomputer of four tunnels and above external interrupt, can accomplish both to have reduced the cost of building of intelligent vehicle model, can accurately identify again
Road.
5. analog video signal acquisition system of the present invention is in software aspects strong adaptability, it can be changed by programming
The identification of road edge number, so that being recognized by algorithm has the road conditions of other articles on multidiameter delay or road.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is the structure principle chart of analog video signal acquisition system of the present invention；
Fig. 2 is analog video signal acquisition system structure chart of the present invention；
Fig. 3 is the structure principle chart of mu balanced circuit in analog video signal acquisition system of the present invention；
Fig. 4 is the structure principle chart of drive circuit in analog video signal acquisition system of the present invention；
Fig. 5-1 is video separation electricity in video processing circuit in analog video signal acquisition system of the present invention
The structure principle chart on road；
Fig. 5-2 is hardware binarization in video processing circuit in analog video signal acquisition system of the present invention
The structure principle chart of circuit；
Fig. 6 is the analogue video signal processing circuit signal conversion in analog video signal acquisition system of the present invention
Schematic diagram；
Fig. 7 is the main program flow block diagram that analog video signal acquisition system of the present invention gathers signal；
Fig. 8 is that FB(flow block) is interrupted on analog video signal acquisition system of the present invention collection signal procedure 4 tunnel.
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in detail.
Refering to Fig. 1, analog video signal acquisition system of the present invention is based on intelligent vehicle model, needed for installing
Hardware form；Simulation camera collection analog video signal in analog video signal acquisition system, is handled using single-chip microcomputer
Analog video signal, will control steering and the traveling of intelligent vehicle model after effective analog video signal collection analysis；It is mainly
Coordinated by hardware and software and handle analog video signal realization to effective identification of road and control intelligent vehicle model to lead automatically
Sail function.
Refering to Fig. 2, analog video signal acquisition system of the present invention includes rechargeable battery, single-chip microcomputer U1, voltage stabilizing
Circuit, direct current generator, Servo-controller, drive circuit, simulation camera and video processing circuit.
Described rechargeable battery uses model 7.2VNi-Cd rechargeable battery.
Described single-chip microcomputer U1 is the model MKL26Z256VLL4 of Freescale single-chip microcomputer, wherein using any four
Road external interrupt pin, used here as PTB0 pins, PTB1 pins, PTB2 pins, PTB3 pins, four pass pin are respectively connected to figure
The hardware binarization circuit shown in video separation circuit and Fig. 5-2 shown in 5-1；Also using 3 road PWM pins be PWM1 pins,
PWM2 pins and PWM3 pins, PWM3 are connected with the white line of steering wheel, and the motor driving that PWM1 and PWM2 are respectively connected to shown in Fig. 4 is electric
Road.The power output end of 3.3V mu balanced circuits is provided in the mu balanced circuit that single-chip microcomputer U1 powers as shown in Figure 3.
Refering to Fig. 3, described mu balanced circuit includes 5V mu balanced circuits, 12V mu balanced circuits and 3.3V mu balanced circuits.
1. described in 5V mu balanced circuits include model LM2940 voltage stabilizing chip U2, electrochemical capacitor C20 and electrochemical capacitor
C21。
Model LM2940 voltage stabilizing chip U2 is the chip of TI companies production, and model LM2940 voltage stabilizing chip U2 is total to
There are 3 pins, model LM2940 voltage stabilizing chip U2 1 pin is that Vin pins connect input voltage, and model LM2940's is steady
Pressure chip U2 2 pins are GND pin ground connection, and model LM2940 voltage stabilizing chip U2 3 pins are that Vout pins connect output
Voltage end.Rechargeable battery positive pole is connected to model LM2940 voltage stabilizing chip U2 1 pin i.e. Vin pins, chargeable electricity
The negative pole in pond is that GND pin is electrically connected with model LM2940 voltage stabilizing chip U2 2 pins, then model LM2940 voltage stabilizing
Chip U2 3 pins are Vout pins output 5V power supplys.Rechargeable battery positive pole and output 5V power ends can connect a filtering respectively
Electrochemical capacitor C20 and electrochemical capacitor C21 positive terminal, electrochemical capacitor C20 and electrochemical capacitor C21 negative pole end ground connection, to increase
Stiff stability.
2. described in 12V mu balanced circuits include voltage stabilizing chip U3, inductance L4, variable resistor R1, the resistance of model 34063
R2, resistance R3, resistance RES4, electric capacity C1, electrochemical capacitor C2, electric capacity C25.
The voltage stabilizing chip U3 of model 34063 is the chip of TI companies production, and the chip has 8 pins.By 5V voltage stabilizings
3 pins of circuit output 5V voltages are connected with the voltage stabilizing chip U3 of model 34,063 6 lead-foot-lines；Negative electrode of rechargeable batteries is led to
5 lead-foot-lines for crossing 10K variable resistor R1 and the voltage stabilizing chip U3 of model 34063 are connected；The voltage stabilizing of model 34063
Chip U3 1 pin is connected with 7 pins of the voltage stabilizing chip of model 34063 by a 220um inductance L4 line；Model
34063 voltage stabilizing chip U3 8 pins are connected with the end lines of resistance R2 mono- in 220 Europe, the resistance R2 other ends and model 34063
The 7 lead-foot-lines connection of voltage stabilizing chip；With model after the voltage stabilizing chip U3 of model 34,063 6 pins connection, one 1 Europe resistance R3
For 34063 voltage stabilizing chip U3 7 lead-foot-lines connection；The voltage stabilizing chip U3 of model 34,063 1 pin connection model
IN4007 diode D1 positive pole, model IN4007 diode D1 negative poles connect a 47K resistance RES4 one end, resistance
The RES4 other ends are connected with 5 lead-foot-lines of the voltage stabilizing chip of model 34063.The negative pole of model IN4007 diode is drawn
It is 12V power ends to go out end.Electric capacity C1 and electrochemical capacitor C2 can be accessed between 5V voltage ends and ground and 12V voltage ends and ground
Filtering；1 electric capacity C25 is concatenated between the voltage stabilizing chip U3 of model 34,063 2 pins and 3 pins, while model 34063
Voltage stabilizing chip U3 2 pins ground connection.
3. described in the voltage stabilizing chip U4 of 3V mu balanced circuits including model LM1117, electrochemical capacitor C22, electric capacity C23 with
Electric capacity C24.
Model LM1117 voltage stabilizing chip U4 is the chip of TI companies production, and model LM1117 voltage stabilizing chip U4 has
3 pins, model LM1117 voltage stabilizing chip U4 1 pin ground connection, model LM1117 voltage stabilizing chip U4 3 pins connect
The 5V power ends of 5V mu balanced circuits, model LM1117 voltage stabilizing chip U4 2 pins output 3.3V power supplys, i.e. model
LM1117 voltage stabilizing chip U4 2 pins are 3.3V voltage output ends.5V input supply terminals and 3.3V power output ends can be distinguished
Connect one end that filter capacitor meets electric capacity C24 and electric capacity C23 and electrochemical capacitor C22 respectively, electric capacity C24 and electric capacity C23 and electrolysis
Electric capacity C22 other end ground connection, strengthens stability.
Refering to Fig. 4, described drive circuit includes model IRF3205 metal-oxide-semiconductor Q1, model IRF3205 metal-oxide-semiconductor
Q2, model IRF3205 metal-oxide-semiconductor Q3, model IRF3205 metal-oxide-semiconductor Q4, model IR2104S half-bridge driven chip
U5, model IR2104S half-bridge driven chip U6, model IN4148 diode D2, model IN4148 diode
D3, model IN4148 diode D4, model IN4148 diode D5, model IN4148 diode D6, model
For IN4148 diode D7, resistance R4, resistance R5, resistance R6, resistance R7, electric capacity C3 and electric capacity C4.
Described model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 are all
There are 8 pins；Model IRF3205 metal-oxide-semiconductor Q1, model IRF3205 metal-oxide-semiconductor Q2, model IRF3205 MOS
Pipe Q3 and model IRF3205 metal-oxide-semiconductor Q4 all has 3 pins, is divided into G, D, S poles, respectively 1,2,3 pins.Will be by model
Model IR2104S half-bridge driven chip is respectively connected to for the MKL26Z256VLL4 remaining two-way PWM pins of single-chip microcomputer U1
U5 and model IR2104S half-bridge driven chip U6 2 pins；Model IR2104S half-bridge driven chip U5 and model
3,4 pins for IR2104S half-bridge driven chip U6 are grounded, model IR2104S half-bridge driven chip U5 and model
12V power output ends in 12V mu balanced circuits are connect for IR2104S half-bridge driven chip U6 1 pin；Model
IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 8 pins connect a model respectively
IN4148 diode D2 and model IN4148 diode D3 negative pole, model IN4148 diode D2 and model
IN4148 diode D3 positive pole connects 12V power output ends；Model IR2104S half-bridge driven chip U5 and model
IR2104S half-bridge driven chip U6 6 pins are sequentially connected the electrochemical capacitor C3 of 100 microfarad and the electrolysis of 100 microfarads
Electric capacity C4 negative pole, electrochemical capacitor C3 and electrochemical capacitor C4 positive pole meets model IN4148 diode D2 and model respectively
IN4148 diode D3 negative pole；Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven
Chip U6 5,7 pins are respectively connected to model IN4148 diode D5, model IN4148 diode D4 and model
For IN4148 diode D7, model IN4148 diode D6 negative pole, model IN4148 diode D5, model
IN4148 diode D4 and model IN4148 diode D7, model IN4148 diode D6 positive pole are respectively and type
Number for IRF3205 metal-oxide-semiconductor Q2, model IRF3205 metal-oxide-semiconductor Q1, model IRF3205 metal-oxide-semiconductor Q4, model
IRF3205 metal-oxide-semiconductor Q3 G levels are the connection of 1 lead-foot-line；Model IN4148 diode D5, model IN4148 two poles
Pipe D4, model IN4148 diode D7 and model IN4148 diode D6 two ends resistance R5 successively with 27 Europe,
Resistance R4, resistance R7 are in parallel with resistance R6 two ends；Model IR2104S half-bridge driven chip U5 7 pins and model
IN4148 diode D4 negative pole connection, model IN4148 diode D4 positive pole and model IRF3205 metal-oxide-semiconductor
Q1 G levels are the connection of 1 lead-foot-line, model IR2104S half-bridge driven chip U5 5 pins and model IN4148 two poles
Draw pipe D5 negative pole connection, model IN4148 diode D5 positive pole and model IRF3205 metal-oxide-semiconductor Q2 G levels i.e. 1
Payment to a porter is connected, similarly, the G of model IR2104S half-bridge driven chip U6 7 pins and model IRF3205 metal-oxide-semiconductor Q3
Level is the connection of 1 lead-foot-line, model IR2104S half-bridge driven chip U6 5 pins and model IRF3205 metal-oxide-semiconductor Q4
G levels be 1 lead-foot-line connection；Then model IRF3205 metal-oxide-semiconductor Q1 and model IRF3205 metal-oxide-semiconductor Q3 D poles are 2 to draw
Pin is connected with anode；Model IRF3205 metal-oxide-semiconductor Q2 and model IRF3205 metal-oxide-semiconductor Q4 S poles are 3 pins
It is grounded；Model IRF3205 metal-oxide-semiconductor Q1 S poles are D poles i.e. 2 pins of 3 pins and model IRF3205 metal-oxide-semiconductor Q2
Line is connected；Model IRF3205 metal-oxide-semiconductor Q3 S poles are D poles i.e. 2 pins of 3 pins and model IRF3205 metal-oxide-semiconductor Q4
Line is connected；Model IRF3205 metal-oxide-semiconductor Q1 S poles are that 3 pins are connected with a motor MOTOR wiring, model
IRF3205 metal-oxide-semiconductor Q3 S poles are that 3 pins are connected with motor MOTOR another wiring；Model IRF3205 metal-oxide-semiconductor
Q1 S poles are that 3 pins are connected with model IR2104S half-bridge driven chip U5 6 lead-foot-lines, model IRF3205 MOS
Pipe Q3 S poles are that 3 pins are connected with model IR2104S half-bridge driven chip U6 6 lead-foot-lines.
Described direct current generator uses model RS-380 motor, with two piece-root grafting lines, the respectively driving shown in map interlinking 4
The motor output two ends of circuit.
Described Servo-controller uses model SD-05 servomotor, and it has 3 piece-root grafting lines.Wherein red wiring meets 5V
Power supply is the 5V voltage output terminals in drive circuit, and black wiring ground connection is GND, and white wiring connects model
In 3 road PWM pins on MKL26Z256VLL4 single-chip microcomputer U1 all the way.
Described simulation camera uses the simulation camera of the lines of model SONY CCD 420, and it has three wiring,
Wherein red line connects the 12V voltage output terminals in 12V power supplys i.e. mu balanced circuit, and black line ground connection is GND, yellow line
For video signal cable, video processing circuit is connected.
Described video processing circuit includes video separation circuit and hardware binarization circuit.
1. refering to Fig. 5-1, described video separation circuit include model LM1881 chip U8, electric capacity C5, electric capacity C6,
Resistance R8.
Model LM1881 chip U8 is the chip of TI companies production, and model LM1881 chip U8 has 8 and drawn
Pin.The yellow video signal cable VIDEO of simulation camera is connected to the patch capacitor C5 of 0.1 microfarad one end, and electric capacity C5 is another
One end is connected with model LM1881 chip U8 2 lead-foot-lines；Model LM1881 chip U8 4 pins ground connection；Model
6 pins for LM1881 chip U8 are while meet the one of the electric capacity C6 of 0.1 microfarad one end and 680K resistance R8
End, electric capacity C6 and resistance the R8 other end are grounded simultaneously；In model LM1881 chip U8 8 pins and 5V mu balanced circuits
5V power supplys end line is connected；Model LM1881 chip U8 3 pins (field interrupt signal) be connected to the roads of single-chip microcomputer U1 Zhong tetra- it
One interrupt pin is PTB0 pins；Model LM1881 chip U8 1 pin (row interrupt signal) is connected in single-chip microcomputer U1
The interrupt pin on one of four tunnels be PTB1 pins.
2. refering to Fig. 5-2, described hardware binarization circuit includes model AD8032 chip U7, resistance R9, resistance
R10, resistance R11, resistance R12, resistance R13, resistance R14 and resistance R15.
Model AD8032 chip U7 is the chip of TI companies production, and model AD8032 chip U7 has 8 pins,
Comprising two operational amplifiers, one of operational amplifier is used for amplification video signal, another operational amplifier input one
Individual adjustable voltage is compared with the vision signal after amplification, realizes vision signal binaryzation.The yellow video letter of camera will be simulated
Number line VIDEO access model AD8032 chip U7 5 pins；In model AD8032 chip U7 6 pins and 7 pins
Between be connected with 10K adjustable resistance R9；Model AD8032 chip U7 6 pins are connected to 1K resistance R10's
One end, resistance R10 other ends ground connection；Video signal VIDEO 1 after model AD8032 chip U7 7 pins output amplification
2K resistance R11 one end is connected to, another terminating number of resistance R11 is AD8032 chip U7 2 pins；Model
AD8032 chip U7 8 pins connect the 5V power ends of 5V mu balanced circuits；Model AD8032 chip U7 4 pins ground connection；
Model AD8032 chip U7 1 pin is connected to 10K resistance R12 one end, and resistance R12 is another to terminate to model
AD8032 chip U7 3 pins；Model AD8032 chip U7 1 pin is connected to 2K resistance R13 one end, resistance
The 3.3V power ends of another termination 3.3V mu balanced circuits of R13；1 pin is also respectively connected in single-chip microcomputer U1 PTB2, PTB3 simultaneously
Disconnected pin.Model AD8032 chip U7 3 pins are connected to 1K resistance R14 one end, and the another of resistance R14 terminates to
One 10K slide rheostats R15 2 pins, slide rheostat R15 left and right pin connects the 5V power ends of 5V mu balanced circuits respectively
And ground.
Analog video signal acquisition system can be built by above-mentioned connection.
The operation principle (control method) of analog video signal acquisition system of the present invention：
When simulation camera senses as sensor to many specific external environments, and need not be by each pixel
Gray value carry out analog-to-digital conversion.
Because simulation camera as sensor collection road information be in order to find the gray value cut-point of relevant position,
Primarily to the boundary positional information of road and roadside material is found, so that by center calculation, control automobile turns automatically
To traveling.
Analog video signal acquisition system of the present invention is directed to the identification requirement of this searching boundary positional information,
Binary conversion treatment analog video signal, and the row interrupt signal and field interrupt signal of the collection of video separation circuit are combined, catch and grab note
The binary signal hopping edge time is recorded, hopping edge position is converted into, so as to obtain corresponding edge active position information.
Video processing circuit includes video separation circuit and hardware binarization circuit.
1. refering to Fig. 5, after analog video signal is amplified by amplifying circuit, by amplified signal input hardware binaryzation electricity
Road, obtains binaryzation vision signal.Amplifying circuit uses comparator amplification and two-value in operation amplifier chip AD8032, such as Fig. 2
Change.
2. the signal after binaryzation is input into two hopping edges simultaneously triggers interrupt pin.Two pins are rising edge respectively
Singlechip interruption is gathered in down trigger pattern and trailing edge down trigger pattern, such as Fig. 6.
3. another road original analogue video signal is input into video separation circuit, the interrupt signal that must show up and row interrupt letter
Number, video separation in such as Fig. 6.
4. the isolated interrupt signal difference (field signal and row signal) of two-path video is input to another two hopping edge
Trigger interrupt pin.Two pins are single-chip microcomputer in rising edge down trigger pattern and trailing edge down trigger pattern, such as Fig. 6 respectively
Interrupt acquisition.
Use the advantage of video processing circuit for：The effective information on road edge position can be only preserved, is carried
It is high-precision to greatly reduce data volume simultaneously, be conducive to low side single-chip microcomputer to accurately identify road using camera；Utilize four tunnels
Down trigger gathers image information, can reduce occupancy single-chip microcomputer, make single-chip microcomputer have more times be used for signal transacting and
Control, which is led, sails.
Described simulation camera sensing device can be any a simulation camera.Model is used in such as the present embodiment
When recognizing road for SONY CCD 420 simulation camera sensing device, road is on both sides of the road two with the line of demarcation of road, i.e., every
Row has two separations, therefore line number group is set into 3 or 4 row, it is ensured that collects separation and is removed by front and rear separation continuous filtering
Noise.
Illustrate：When array is 4 row (initial value is 0), when distinguishing road,
If the count maximum obtained according to a line time is 255
80th line number group is respectively 50,201,0,0
81st line number group is respectively 20,52,204,253
82nd line number group is respectively 51,205,0,0
The value for the counter that value in the array is recorded when triggering respective interrupt for two-value signal, has continuity to obtain
Link location information is that left margin is that 50,52,51 grade points are linked to be curve, and right margin is that 201,204,205 grade points are linked to be curve.Tool
Body position information is
(record value/count maximum) * rows visual field width
I.e. left margin point position is respectively (50/225) * rows visual field width, (52/225) * rows visual field width, (51/225) *
Row visual field width.
Outline position information can be effectively obtained according to all line number groups.
It can be seen that single-chip microcomputer needs the array gathered to be changed into 320*4 from 320*640 after hardware handles, data are greatly reduced
Amount, and efficiently extract out the positional information of road edge.
Analog video signal acquisition system is to video frequency signal processing and edge extracting mainly by single-chip microcomputer to hopping edge
Interruption logging is realized.
When single-chip microcomputer is initialized, a counter is opened, overflow data amount is counted and a line is gathered according to camera sensing device
Depending on the time of data.Then single-chip microcomputer opens four tunnel external interrupts, and completes to mark according to signal is gathered in interruption into circulation
Will position arranges a frame video signal and processing routine, as shown in Figure 7.
The corresponding actions of four tunnel external interrupts, as shown in figure 8, can be divided into：
(1) during the down trigger of field, line number is reset, row is opened and interrupts.
(2) during row down trigger, counter is zeroed out.
(3) when binaryzation rise saltus step is along down trigger, timers value is recorded, and write in the line number group；Array sequence
Number from plus.
(4) when rising hopping edge down trigger under binaryzation, timers value is recorded, and write in the line number group；Array sequence
Number from plus.
As can be seen here, before single-chip microcomputer row interrupts, single-chip microcomputer can handle the image array letter of the row gathered before
Breath；When monolithic airport, which is interrupted, to be come, an as frame gathers the flag bit finished, then principal function starts integral image array.To adopting
The array of collection enters Line Continuity filtering, finally gives effective contour information.
The gathering algorithm of video separation and binaryzation detection road edge largely optimizes single-chip microcomputer and taken the photograph with simulation
As the matching of head, make single-chip microcomputer without opening up array according to the resolution ratio of camera, record a large amount of invalid datas to improve precision.
Only need to set the counter of every row, often row time counter value is 255 using camera in such as present invention, you can reach phase
Precision is 320*255 in the precision answered, this example.Again due to only gather often go in hopping edge, so it is high-precision simultaneously, thing
Often row is simply acquired in the data of hopping edge number, such as this example using 4 hopping edge arrays, i.e. data volume only single-chip microcomputer in reality
There is 320*4.This programme advantageously reduces the cost that analog video signal is gathered using single-chip microcomputer, improves road Identification precision, subtracts
Mcu resource is taken less, improves image processing efficiency.
Claims (10)
1. a kind of analog video signal acquisition system, it is characterised in that described analog video signal acquisition system includes filling
Battery, single-chip microcomputer U1, mu balanced circuit, direct current generator, Servo-controller, drive circuit, simulation camera and video frequency signal processing
Circuit；
Described mu balanced circuit includes 5V mu balanced circuits, 12V mu balanced circuits and 3.3V mu balanced circuits；
Described video processing circuit includes video separation circuit and hardware binarization circuit；
The voltage stabilizing chip U2 of model LM2940 in rechargeable battery positive pole and 5V mu balanced circuits 1 pin electrical connection, can fill
The negative pole of battery is electrically connected with the voltage stabilizing chip U2 of the model LM2940 in mu balanced circuit 2 pins；Rechargeable battery is just
The MOS of model IRF3205 in the metal-oxide-semiconductor Q1 of model IRF3205 in pole and drive circuit 2 pins and drive circuit
Pipe Q3 2 pins connection；12V power output ends in 12V mu balanced circuits connect the red wiring on simulation camera；5V voltage stabilizings electricity
5V power output ends in road are connected with the chip U8 of the model LM1881 in video separation circuit 8 lead-foot-lines；5V voltage stabilizings
5V power output ends in circuit connect the chip U7 of the model AD8032 in hardware binarization circuit 8 pins；5V voltage stabilizings electricity
The 5V power output ends on road connect the red wiring of Servo-controller；The 3.3V power output ends of 3.3V mu balanced circuits are with single-chip microcomputer U1's
VCC pin connection；
Yellow video signal cable VIDEO on described simulation camera passes through the model in electric capacity C5 and video separation circuit
LM1881 chip U8 2 lead-foot-lines connection；Simulate the yellow video signal cable VIDEO access hardware binarization circuits of camera
In model AD8032 chip U7 5 pins；The chip U7 of model AD8032 in hardware binarization circuit 1 pin
Single-chip microcomputer U1 PTB2, PTB3 interrupt pin are connect respectively；Draw the 3 of the chip U8 of model LM1881 in video separation circuit
Pin connects the interrupt pin i.e. PTB0 pins in single-chip microcomputer U1；Two-way PWM pins in single-chip microcomputer U1 are connect in drive circuit successively
Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 2 pins；Drive circuit
In model IRF3205 metal-oxide-semiconductor Q3 3 pins and the model IRF3205 in drive circuit metal-oxide-semiconductor Q4 2 pins
It is connected with one end of direct current generator, in the metal-oxide-semiconductor Q1 of the model IRF3205 in drive circuit 3 pins and drive circuit
Model IRF3205 metal-oxide-semiconductor Q2 2 pins and the other end of direct current generator are connected；White on described Servo-controller connects
Line connects 1 road PWM pins on single-chip microcomputer U1.
2. according to the analog video signal acquisition system described in claim 1, it is characterised in that in described 12V mu balanced circuits
12V power output ends connect model IR2104S in drive circuit half-bridge driven chip U5 and model IR2104S half
Bridge driving chip U6 1 pin；The 3.3V power output ends of 3.3V mu balanced circuits connect the resistance R13's in hardware binarization circuit
The other end.
3. according to the analog video signal acquisition system described in claim 1, it is characterised in that described rechargeable battery with it is steady
The connection of volt circuit electric wire refers to：
Rechargeable battery positive pole connects the voltage stabilizing chip U2 of the model LM2940 in 5V mu balanced circuits 1 pin i.e. Vin pins, can
Negative electrode of chargeable battery connects the voltage stabilizing chip U2 of the model LM2940 in 5V mu balanced circuits 2 pins i.e. GND pin；Chargeable electricity
Pond negative pole is connected by variable resistor R1 with the voltage stabilizing chip U3 of the model 34063 in 12V mu balanced circuits 5 lead-foot-lines；5V
The voltage stabilizing chip U2 of model LM2940 in mu balanced circuit 3 pins are Vout pins and the model in 12V mu balanced circuits
34063 voltage stabilizing chip U3 6 lead-foot-lines connection；Draw the 3 of the voltage stabilizing chip U4 of model LM1117 in 3.3V mu balanced circuits
Pin connects the 5V power output ends of 5V mu balanced circuits.
4. according to the analog video signal acquisition system described in claim 1, it is characterised in that described 5V mu balanced circuits are also wrapped
Include electrochemical capacitor C20 and electrochemical capacitor C21；
Model LM2940 voltage stabilizing chip U2 1 pin is the positive terminal that Vin pins meet electrochemical capacitor C20, model
LM2940 voltage stabilizing chip U2 3 pins are the positive terminal that Vout pins meet electrochemical capacitor C21, electrochemical capacitor C20 and electrolysis electricity
Hold C21 negative pole end ground connection, model LM2940 voltage stabilizing chip U2 2 pins are GND pin ground connection.
5. according to the analog video signal acquisition system described in claim 1, it is characterised in that described 12V mu balanced circuits are also
Including inductance L4, resistance R2, resistance R3, resistance RES4, electric capacity C1, electrochemical capacitor C2, electric capacity C25；
7 pins of the voltage stabilizing chip U3 of model 34,063 1 pin and the voltage stabilizing chip U3 of model 34063 pass through an electricity
Feel L4 connections, the voltage stabilizing chip U3 of model 34,063 8 pins are connected with a resistance R2 end line, the resistance R2 other ends and type
Number for 34063 voltage stabilizing chip U3 7 lead-foot-lines connection；After the voltage stabilizing chip U3 of model 34,063 6 pins connection resistance R3
It is connected with the voltage stabilizing chip U3 of model 34,063 7 lead-foot-lines；The voltage stabilizing chip U3 of model 34,063 1 pin connection model
For IN4007 diode D1 positive pole, model IN4007 diode D1 negative poles connection resistance RES4 one end, resistance
The RES4 other end is connected with the voltage stabilizing chip U3 of model 34,063 5 lead-foot-lines；The negative pole of model IN4007 diode
Exit is 12V power ends；The voltage stabilizing chip U3 of model 34,063 6 pins and ground and model IN4007 two poles
Electric capacity C1 and electrochemical capacitor C2 is accessed between the negative pole and ground of pipe；The voltage stabilizing chip U3 of model 34,063 2 pins and 3 pins
Between concatenate 1 electric capacity C25, while the voltage stabilizing chip U3 of model 34063 2 pins ground connection.
6. according to the analog video signal acquisition system described in claim 1, it is characterised in that described 3V mu balanced circuits are also wrapped
Include electrochemical capacitor C22, electric capacity C23 and electric capacity C24；
Model LM1117 voltage stabilizing chip U4 1 pin ground connection, model LM1117 voltage stabilizing chip U4 2 pins are as defeated
Go out 3.3V power ends, model LM1117 voltage stabilizing chip U4 3 pins connect electric capacity C24 one end, and model LM1117's is steady
Pressure chip U4 2 pins connect electric capacity C23 and electrochemical capacitor C22 one end, and electric capacity C24, electric capacity C23 and electrochemical capacitor C22's is another
One end is grounded.
7. according to the analog video signal acquisition system described in claim 1, it is characterised in that described drive circuit also includes
Metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4, diode D2, diode D3, diode D4, diode D5, diode D6,
Diode D7, resistance R4, resistance R5, resistance R6, resistance R7, electric capacity C3 and electric capacity C4；Wherein：Metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, MOS
Pipe Q3 and metal-oxide-semiconductor Q4 is all model IRF3205 metal-oxide-semiconductor, diode D2, diode D3, diode D4, diode D5, two
Pole pipe D6 and diode D7 is all model IN4148 diode；
Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 3,4 pins connect
Ground, model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 8 pins connect respectively
Diode D2 and diode D3 negative pole, diode D2 and diode D3 positive pole connects 12V power output ends；Model
IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 6 pins are sequentially connected electrochemical capacitor
C3 and electrochemical capacitor C4 negative pole, electrochemical capacitor C3 and electrochemical capacitor C4 positive pole connects the negative of diode D2 and diode D3 respectively
Pole；Model IR2104S half-bridge driven chip U5 and model IR2104S half-bridge driven chip U6 5,7 pins respectively connect
Connect diode D5, diode D4 and diode D7, diode D6 negative pole, diode D5, diode D4 and diode D7, two poles
Pipe D6 positive pole is connected with metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q4, metal-oxide-semiconductor Q3 G levels line respectively；Diode D5, diode D4,
Diode D7 and diode D6 two ends are in parallel with resistance R6 two ends with resistance R5, resistance R4, resistance R7 successively；Model
IR2104S half-bridge driven chip U5 7 pins are connected with diode D4 negative pole, diode D4 positive pole and the 1 of metal-oxide-semiconductor Q1
Lead-foot-line is connected, and model IR2104S half-bridge driven chip U5 5 pins are connected with diode D5 negative pole, diode D5
Positive pole be connected with metal-oxide-semiconductor Q2 1 lead-foot-line, model IR2104S half-bridge driven chip U6 7 pins and the 1 of metal-oxide-semiconductor Q3
Lead-foot-line is connected, and model IR2104S half-bridge driven chip U6 5 pins are connected with metal-oxide-semiconductor Q4 1 lead-foot-line；Metal-oxide-semiconductor Q1
It is connected with metal-oxide-semiconductor Q3 2 pins with anode；Metal-oxide-semiconductor Q2 and metal-oxide-semiconductor Q4 3 pins are grounded；Metal-oxide-semiconductor Q1 3 pins
It is connected with metal-oxide-semiconductor Q2 2 lead-foot-lines；Metal-oxide-semiconductor Q3 3 pins are connected with metal-oxide-semiconductor Q4 2 lead-foot-lines；Metal-oxide-semiconductor Q1 3 pins with
A motor MOTOR wiring is connected, and metal-oxide-semiconductor Q3 3 pins are connected with motor MOTOR another wiring；The 3 of metal-oxide-semiconductor Q1
Pin is connected with model IR2104S half-bridge driven chip U5 6 lead-foot-lines, metal-oxide-semiconductor Q3 3 pins and model
IR2104S half-bridge driven chip U6 6 lead-foot-lines connection.
8. according to the analog video signal acquisition system described in claim 1, it is characterised in that described video separation circuit is also
Including electric capacity C5, electric capacity C6 and resistance R8；
Electric capacity C5 one end is connected with model LM1881 chip U8 2 lead-foot-lines, and the 4 of model LM1881 chip U8 draws
Pin is grounded；Model LM1881 chip U8 6 pins connect electric capacity C6 and resistance R8 one end simultaneously, electric capacity C6 and resistance R8's
The other end is grounded；Model LM1881 chip U8 1 pin is connected to the interrupt pin i.e. PTB1 pins in single-chip microcomputer U1.
9. according to the analog video signal acquisition system described in claim 1, it is characterised in that described hardware binarization circuit
Chip U7, resistance R9, resistance R10, resistance R11, resistance R12, resistance R13, resistance R14 and resistance including model AD8032
R15；
Adjustable resistance R9, model AD8032 chip U7 are concatenated between model AD8032 chip U7 6 pins and 7 pins
6 pin connecting resistance R10 one end, the resistance R10 other ends ground connection；Model AD8032 chip U7 7 pins output amplification
One end of the connecting resistance R11 of video signal VIDEO 1 afterwards, another terminating number of resistance R11 is AD8032 chip U7 2 pins；
Model AD8032 chip U7 4 pins ground connection；Model AD8032 chip U7 1 pin connecting resistance R12 one end, electricity
Hinder 3 pins of another terminating number of R12 for AD8032 chip U7；Model AD8032 chip U7 1 pin connecting resistance R13
One end；Model AD8032 chip U7 3 pin connecting resistance R14 one end, resistance R14 another termination slide rheostat
R15 2 pins, slide rheostat R15 left and right pin connects the 5V power output ends and ground of 5V mu balanced circuits respectively.
10. according to the analog video signal acquisition system described in claim 1, it is characterised in that described rechargeable battery is adopted
With model 7.2VNi-Cd battery；Single-chip microcomputer U1 uses model MKL26Z256VLL4 single-chip microcomputer；Direct current generator is used
Model RS-380 motor；Servo-controller uses model SD-05 servomotor；Simulate camera and use model SONY
The simulation camera of the lines of CCD 420.
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